Control system for lowering forklift lever

ABSTRACT

A system of controlling a lowering speed of a work lever of a forklift which includes, a hydraulic motor connected to the work lever through a hydraulic line to transmit a power to the work lever; an electronic solenoid valve for controlling the hydraulic motor connected to the work lever; a weight sensor provided at one side of the work lever, the weight sensor measuring a weight of a load placed on the work lever and transmitting the measured value to a controller; and a controller for controlling an RPM of the hydraulic motor and a current amount of the electronic solenoid valve based on the measured value transmitted from the weight sensor.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority to and the benefit of Korean PatentApplication No. 10-2018-0166139, filed on Dec. 20, 2018, in the KoreanIntellectual Property Office (KIPO), the disclosure of which isincorporated by reference herein in its entirety.

1. Technical Field

Aspects of embodiments relate to a system of controlling a loweringspeed, and more particularly, to a system of controlling a speed oflowering a forklift lever which may lower the work lever of the forkliftat a constant lowering speed, irrespective of a weight of a load.

2. Discussion of Related Art

A forklift is a machine that transports loads using a hydraulic system.In such a case, due to the characteristics of the hydraulic system, alifting or lowering speed of a work lever, which supports loads,inevitably varies depending on the weight of the load. In particular,since the speed of lowering the work lever is proportional to a pressureof a hydraulic cylinder connected to the work lever, the lowering speedis low when there is no load, and the lowering speed is high when thereis a load. Control over the lowering speed is essential since it isdirectly related to safety.

In order to limit a maximum speed of this lowering speed, conventionalforklifts should be equipped with a flow regulator. However, althoughthe maximum speed could be adjusted through the use of a flow regulator(e.g., a flow check valve), there still was a problem that an amount ofchange in the lowering speed of the lever, with respect to a valveopening area, varies depending on the load or no-load condition.

FIG. 1 is a graph illustrating a lowering speed of a lever of aconventional forklift equipped with a flow regulator.

Meanwhile, in a hydraulic cylinder connected to a work lever, a flowrate Q is expressed as a product of a constant C, an area A, and apressure P, that is, Q=C×A×P. Accordingly, respective pressures in theload and no-load conditions are different from each other, inevitablyresulting in a difference in an amount of change (e.g., a rate ofchange) in the lowering speed of the lever.

The flow regulator merely controls the maximum speed, and since the timefor reaching the maximum speed of the work lever varies depending on theweight of the load, the controllability and operability of the forkliftare bound to be degraded.

Further, due to such conventional constraints that it is difficult tocontrol an amount of change in the speed of the lever, there is aproblem that the operability is degraded, or the overall stability ofthe forklift is lowered. In particular, a sudden change in the loweringspeed of the work lever of the forklift involves shocks or vibrations inthe entire forklift system, thus degrading the stability of the load andcausing inconvenience to workers who should try to operate the worklever differently depending on the weight of the load.

It is to be understood that this background of the technology section isintended to provide useful background for understanding the technologyand as such disclosed herein, the technology background section mayinclude ideas, concepts or recognitions that were not part of what wasknown or appreciated by those skilled in the pertinent art prior to acorresponding effective filing date of subject matter disclosed herein.

SUMMARY

Embodiments may be directed to a system of controlling a lowering speedof a work lever of a forklift which may realize a constant amount ofchange in the lowering speed with respect to a valve opening area,irrespective of a weight of a load placed on the work lever, although aflow regulator is not provided.

According to an embodiment, a system of controlling a lowering speed ofa work lever of a forklift includes, a hydraulic motor connected to thework lever through a hydraulic line to transmit a power to the worklever; an electronic solenoid valve for controlling the hydraulic motorconnected to the work lever; a weight sensor provided at one side of thework lever, the weight sensor measuring a weight of a load placed on thework lever and transmitting the measured value to a controller; and acontroller for controlling an RPM of the hydraulic motor and a currentamount of the electronic solenoid valve based on the measured valuetransmitted from the weight sensor. A constant amount of change in alowering speed of the work lever with respect to a valve opening area isimplemented, irrespective of the weight of the load placed on the worklever.

According to an embodiment, the weight sensor may measure the weight ofthe load placed on the work lever, convert the weight into a loadvoltage, and transmit the load voltage to the controller.

According to an embodiment, a table may be preset in the controller, thetable including a maximum current under a full load condition of theload placed on the work lever and a maximum current under a no-loadcondition, and the controller may determine a maximum load current ofthe electronic solenoid valve, between the maximum current under thefull load condition and the maximum current under the no-load condition,according to the weight of the load measured by the weight sensor.

According to an embodiment, the controller may determine the maximumload current of the electronic solenoid valve based on the load voltageand the following Equation 1.

$\begin{matrix}{H = {{\frac{\left( {B - C} \right)}{\left( {E - D} \right)} \times \left( {G - D} \right)} + C}} & \left\lbrack {{Equation}\mspace{14mu} 1} \right\rbrack \\{B\text{:}\mspace{14mu} {Maximum}\mspace{14mu} {current}\mspace{14mu} {under}\mspace{14mu} {full}\mspace{14mu} {load}\mspace{14mu} {condition}} & \mspace{45mu} \\{C\text{:}\mspace{14mu} {Maximum}\mspace{14mu} {current}\mspace{14mu} {under}\mspace{14mu} {no}\text{-}{load}\mspace{14mu} {condition}} & \; \\\begin{matrix}{D\text{:}\mspace{14mu} {Minimum}\mspace{14mu} {weight}\mspace{14mu} {voltage}} & {E\text{:}\mspace{14mu} {Maximum}} \\\; & {{weight}\mspace{14mu} {voltage}}\end{matrix} & \; \\\begin{matrix}{G\text{:}\mspace{14mu} {Load}\mspace{14mu} {voltage}} & {H\text{:}\mspace{14mu} {Maximum}\mspace{14mu} {load}\mspace{14mu} {current}}\end{matrix} & \;\end{matrix}$

According to an embodiment, a table according to a height of a worklever may be preset in the controller, and the controller may determinea valve current applied to the electronic solenoid valve, based on thedetermined maximum load current.

According to an embodiment, the controller may determine the valvecurrent based on the following Equation 2.

$\mspace{11mu} \begin{matrix}{I = {A + {\frac{F}{1000} \times \left( {H - A} \right)}}} & \left\lbrack {{Equation}\mspace{14mu} 2} \right\rbrack \\\begin{matrix}{A\text{:}\mspace{14mu} {Minimum}\mspace{14mu} {valve}\mspace{14mu} {current}} & {D\text{:}\mspace{14mu} {Minimum}\mspace{14mu} {weight}\mspace{14mu} {voltage}} \\{F\text{:}\mspace{14mu} {Height}\mspace{14mu} {of}\mspace{14mu} {the}\mspace{14mu} {work}\mspace{14mu} {lever}} & {H\text{:}\mspace{14mu} {Maximum}\mspace{14mu} {load}\mspace{14mu} {current}} \\{I\text{:}\mspace{14mu} {Valve}\mspace{14mu} {Current}} & \;\end{matrix} & \;\end{matrix}$

The foregoing is illustrative only and is not intended to be in any waylimiting. In addition to the illustrative aspects, embodiments andfeatures described above, in addition aspects, embodiments and featureswill become apparent by reference to the drawings and the followingdetailed description.

BRIEF DESCRIPTION OF THE DRAWINGS

A more complete appreciation of the present disclosure will become moreapparent by describing in detail embodiments thereof with reference tothe accompanying drawings, wherein:

FIG. 1 is a graph illustrating a lowering speed of a lever of aconventional forklift equipped with a flow regulator.

FIG. 2 is a block diagram illustrating a system of controlling alowering speed of a forklift lever according to an embodiment of thepresent disclosure.

FIG. 3 is a graph illustrating a current map, in a controller, which ispreset according to a weight of a load.

FIG. 4 is a graph illustrating a current change map according to aheight of a work lever according to an embodiment of the presentdisclosure.

FIG. 5 is a graph illustrating a lowering speed of a lever of a forkliftaccording to an embodiment of the present disclosure.

DETAILED DESCRIPTION

Embodiments will now be described more fully hereinafter with referenceto the accompanying drawings. Although the invention may be modified invarious manners and have several embodiments, embodiments areillustrated in the accompanying drawings and will be mainly described inthe specification. However, the scope of the present invention is notlimited to the embodiments and should be construed as including all thechanges, equivalents and substitutions included in the spirit and scopeof the present invention. These embodiments are provided to morecompletely explain the present invention to those skilled in the art. Itis noted that the figures are schematic and not drawn to scale. Therelative dimensions and ratios of the parts in the figures areexaggerated or reduced in size for clarity and convenience and anydimensions are merely exemplary and not limiting. Throughout thedescription herein, unless otherwise specified, the same or similarreference numeral in different figures refer to the same or similarelement formed by a same or similar formation method using a same orsimilar material(s). In addition, detailed descriptions of well-knownfunctions and configurations that are determined to unnecessarilyobscure the subject matter of the present disclosure will be omitted.

The present disclosure is configured so that a constant amount of changein a lowering speed of a work lever 11, with respect to a valve openingarea, is realized, irrespective of a weight of a load placed on the worklever 11, through the use of a weight sensor 140 without using aseparate expensive regulator (e.g., a check valve), thereby increasingthe controllability and stability of the forklift operation.

FIG. 2 is a block diagram illustrating a system of controlling alowering speed of the forklift lever 11 according to an embodiment ofthe present disclosure.

In detail, as illustrated in FIG. 2, a system of controlling a loweringspeed of a work lever 11 of a forklift 10 includes a work machineoperation device 110; a controller 120 for controlling an RPM of ahydraulic motor 130 and a current amount of an electronic solenoid valve150; the hydraulic motor 130 connected to the work lever 11 through ahydraulic line to transmit a power to the work lever 11; a weight sensor140 provided at one side of the work lever 11 of the forklift 10 tomeasure a weight of a load placed on the work lever 11; and theelectronic solenoid valve 150 for controlling the hydraulic motor 130connected to the work lever 11.

In such a case, the controller 120 may extract only the weight of theload from the weight sensor 140, which simultaneously measures a weightof the work lever 11 and the weight of the load.

In a lowering operation where the load placed on the work lever 11 ofthe forklift 10 is lowered, the weight sensor 140 measures the weight ofthe work lever 11 of the forklift 10, converts the weight into a loadvoltage G, and transmits the load voltage G to the controller 120.

In the controller 120, a table including a maximum current B under afull load condition and a maximum current C under a no-load condition ispreset according to the weight of the load placed on the work lever 11.According to the weight of the load measured by the weight sensor 140,the controller 120 determines a maximum current H of the electronicsolenoid valve 150 between the current C under the full load conditionand the current B under the no-load condition.

FIG. 3 is a graph illustrating a current map, in the controller 120,which is preset according to the weight of the load. In FIG. 3, ahorizontal axis represents a voltage converted by the weight sensor 140according to the weight of the load placed on the work lever 11, and avertical axis represents a preset current corresponding to thehorizontal axis.

FIG. 4 is a graph illustrating a current change map according to aheight of the work lever 11 according to an embodiment of the presentdisclosure. In FIG. 4, a horizontal axis represents a position of thework lever 11, and a vertical axis represents a current applied to theelectronic solenoid valve 150. FIG. 4 illustrates a map whichillustrates a maximum current B under the full load condition and amaximum current C under the no-load condition, according to the positionof the work lever 11. Meanwhile, FIG. 3 illustrates the maximum currentB under the full load condition and the maximum current C under theno-load condition when the work lever 11 is at a maximum height in FIG.4.

For example, as illustrated in FIG. 3, when a load of a maximum weightis placed on the work lever 11, a maximum weight voltage E measured andconverted by the weight sensor 140 is 4.5 V, and the maximum current (ora valve current) B under the full load condition corresponding theretoin the table is preset to 400 mA. Similarly, when there is no load onthe work lever 11, the maximum weight voltage E measured and convertedby the weight sensor 140 is 0.25 V, and the maximum current (or a valvecurrent) C under the no-load condition corresponding thereto in thetable is preset to 500 mA.

First, when a load is placed on the work lever 11, the weight sensor 140transmits, to the controller 120, the load voltage (or weight voltage) Gaccording to the weight of the load, and the controller 120 determinesthe maximum load current (or a valve current) H of the electronicsolenoid valve 150, based on the following Equation 1, by matching theload voltage G in the preset map.

$\begin{matrix}{H = {{\frac{\left( {B - C} \right)}{\left( {E - D} \right)} \times \left( {G - D} \right)} + C}} & \left\lbrack {{Equation}\mspace{14mu} 1} \right\rbrack \\{B\text{:}\mspace{14mu} {Maximum}\mspace{14mu} {current}\mspace{14mu} {under}\mspace{14mu} {full}\mspace{14mu} {load}\mspace{14mu} {condition}} & \mspace{45mu} \\{C\text{:}\mspace{14mu} {Maximum}\mspace{14mu} {current}\mspace{14mu} {under}\mspace{14mu} {no}\text{-}{load}\mspace{14mu} {condition}} & \; \\\begin{matrix}{D\text{:}\mspace{14mu} {Minimum}\mspace{14mu} {weight}\mspace{14mu} {voltage}} & {E\text{:}\mspace{14mu} {Maximum}} \\\; & {{weight}\mspace{14mu} {voltage}}\end{matrix} & \; \\\begin{matrix}{G\text{:}\mspace{14mu} {Load}\mspace{14mu} {voltage}} & {H\text{:}\mspace{14mu} {Maximum}\mspace{14mu} {load}\mspace{14mu} {current}}\end{matrix} & \;\end{matrix}$

That is, the controller 120 determines the maximum load current H basedon [Equation 1] between the maximum current B under the full loadcondition and the maximum current C under the no-load condition, and themaximum load current H is illustrated in FIG. 3.

Thereafter, as illustrated in FIG. 4, a map according to a height F ofthe work lever 11 is preset in the controller 120, and a valve current Iis obtained by using the maximum load current H determined in thecontroller 120. The valve current I has a current value applied to theelectronic solenoid valve 150, and in detail, the controller 120 mayobtain the valve current I based on the following [Equation 2].

$\begin{matrix}{I = {A + {\frac{F}{1000} \times \left( {H - A} \right)}}} & \left\lbrack {{Equation}\mspace{14mu} 2} \right\rbrack \\\begin{matrix}{A\text{:}\mspace{14mu} {Minimum}\mspace{14mu} {valve}\mspace{14mu} {current}} & {D\text{:}\mspace{14mu} {Minimum}\mspace{14mu} {weight}\mspace{14mu} {voltage}} \\{F\text{:}\mspace{14mu} {Height}\mspace{14mu} {of}\mspace{14mu} {the}\mspace{14mu} {work}} & {H\text{:}\mspace{14mu} {Maximum}\mspace{14mu} {load}\mspace{14mu} {current}} \\{{lever}\mspace{14mu} 11} & \; \\{I\text{:}\mspace{14mu} {Valve}\mspace{14mu} {Current}} & \;\end{matrix} & \;\end{matrix}$

FIG. 5 is a graph illustrating a lowering speed of a lever of a forkliftaccording to an embodiment of the present disclosure.

When the system of controlling a lowering speed of the forklift leveraccording to an embodiment of the present disclosure is used asillustrated in FIG. 5, even though a flow regulator as in theconventional art is not provided, a constant amount of change in thelowering speed of the work lever 11, with respect to a valve openingarea, may be achieved. That is, even if the flow regulator is notprovided, a same change in the lowering speed with respect to a valveopening area may be realized at any point between the full load and theno load. Accordingly, the present disclosure may have a certaincontrollability, thereby increasing the stability of the forklift.

In addition, since the configuration of the conventional forklift may beused as it is, even though no expensive flow regulator is provided, arelatively low cost weight sensor may be used to measure the weight ofthe load into a voltage signal and then a signal of the electronicsolenoid valve may be controlled based on the voltage signal, so as torealize a uniform change in the lowering speed of the work lever 11 withrespect to a valve opening area. Accordingly, a certain operability maybe provided during the lowering operation of the work lever 11, and thecost may be reduced such that the economic efficiency may be improved.

As set forth hereinabove, in a system of controlling a speed of loweringa forklift lever according to one or more embodiments, although the flowregulator is not provided as in the conventional art, a constant amountof change in the speed of lowering the work lever, with respect to avalve opening area, may be achieved.

That is, although the flow regulator is not provided, a constant amountof change in the lowering speed with respect to a valve opening area maybe realized at any point between the full load and the no-loadconditions. Accordingly, the present disclosure may have a certaincontrollability, thereby increasing the stability of the forklift.

The embodiment of a system of controlling a speed of lowering a forkliftlever according to the present disclosure described above is merelyexemplary, and it will be apparent to those of ordinary skill in the artthat various changes in form and detail may be made thereto withoutdeparting from the spirit and scope of the present invention. Therefore,it will be understood that the present invention is not limited to theforms or configurations described in the above detailed description. Thetrue technical protection scope of the present invention will be definedby the technical spirit of the appended claims. It is also to beunderstood that the present invention includes all modifications,equivalents and substitutions within the spirit and scope of theinvention as defined by the appended claims.

What is claimed is:
 1. A system of controlling a lowering speed of awork lever of a forklift, comprising: a hydraulic motor connected to thework lever through a hydraulic line to transmit a power to the worklever; an electronic solenoid valve for controlling the hydraulic motorconnected to the work lever; a weight sensor provided at one side of thework lever, the weight sensor measuring a weight of a load placed on thework lever and transmitting the measured value to a controller; and acontroller for controlling an RPM of the hydraulic motor and a currentamount of the electronic solenoid valve based on the measured valuetransmitted from the weight sensor, wherein a constant amount of changein a lowering speed of the work lever with respect to a valve openingarea is implemented, irrespective of the weight of the load placed onthe work lever.
 2. The system of claim 2, wherein the weight sensormeasures the weight of the load placed on the work lever, converts theweight into a load voltage, and transmits the load voltage to thecontroller.
 3. The system of claim 2, wherein a table is preset in thecontroller, the table comprising a maximum current under a full loadcondition of the load placed on the work lever and a maximum currentunder a no-load condition, and the controller determines a maximum loadcurrent of the electronic solenoid valve, between the maximum currentunder the full load condition and the maximum current under the no-loadcondition, according to the weight of the load measured by the weightsensor.
 4. The system of claim 3, wherein the controller determines themaximum load current of the electronic solenoid valve based on the loadvoltage and the following Equation
 1. $\begin{matrix}{H = {{\frac{\left( {B - C} \right)}{\left( {E - D} \right)} \times \left( {G - D} \right)} + C}} & \left\lbrack {{Equation}\mspace{14mu} 1} \right\rbrack \\{B\text{:}\mspace{14mu} {Maximum}\mspace{14mu} {current}\mspace{14mu} {under}\mspace{14mu} {full}\mspace{14mu} {load}\mspace{14mu} {condition}} & \mspace{45mu} \\{C\text{:}\mspace{14mu} {Maximum}\mspace{14mu} {current}\mspace{14mu} {under}\mspace{14mu} {no}\text{-}{load}\mspace{14mu} {condition}} & \; \\\begin{matrix}{D\text{:}\mspace{14mu} {Minimum}\mspace{14mu} {weight}\mspace{14mu} {voltage}} & {E\text{:}\mspace{14mu} {Maximum}} \\\; & {{weight}\mspace{14mu} {voltage}}\end{matrix} & \; \\\begin{matrix}{G\text{:}\mspace{14mu} {Load}\mspace{14mu} {voltage}} & {H\text{:}\mspace{14mu} {Maximum}\mspace{14mu} {load}\mspace{14mu} {current}}\end{matrix} & \;\end{matrix}$
 5. The system of claim 4, wherein a table according to aheight of a work lever is preset in the controller, and the controllerdetermines a valve current applied to the electronic solenoid valve,based on the determined maximum load current.
 6. The system of claim 5,wherein the controller determines the valve current based on thefollowing Equation
 2. $\begin{matrix}{I = {A + {\frac{F}{1000} \times \left( {H - A} \right)}}} & \left\lbrack {{Equation}\mspace{14mu} 2} \right\rbrack \\\begin{matrix}{A\text{:}\mspace{14mu} {Minimum}\mspace{14mu} {valve}\mspace{14mu} {current}} & {D\text{:}\mspace{14mu} {Minimum}\mspace{14mu} {weight}\mspace{14mu} {voltage}} \\{F\text{:}\mspace{14mu} {Height}\mspace{14mu} {of}\mspace{14mu} {the}\mspace{14mu} {work}\mspace{14mu} {lever}} & {H\text{:}\mspace{14mu} {Maximum}\mspace{14mu} {load}\mspace{14mu} {current}} \\{I\text{:}\mspace{14mu} {Valve}\mspace{14mu} {Current}} & \;\end{matrix} & \;\end{matrix}$